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EP2885780B1 - Method and system for compensating for a time discrepancy - Google Patents

Method and system for compensating for a time discrepancy Download PDF

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Publication number
EP2885780B1
EP2885780B1 EP13752885.7A EP13752885A EP2885780B1 EP 2885780 B1 EP2885780 B1 EP 2885780B1 EP 13752885 A EP13752885 A EP 13752885A EP 2885780 B1 EP2885780 B1 EP 2885780B1
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EP
European Patent Office
Prior art keywords
vehicle
data
time base
communication system
internal
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EP13752885.7A
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German (de)
French (fr)
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EP2885780A1 (en
Inventor
Ulrich STÄHLIN
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Continental Teves AG and Co OHG
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Continental Teves AG and Co OHG
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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0644—External master-clock
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18513—Transmission in a satellite or space-based system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
    • H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging

Definitions

  • the invention relates to a method for compensating a time deviation according to the preamble of claim 1 and a system for compensating a time deviation according to the preamble of claim 10.
  • the describes DE 10 2007 058 192 A1 a central control device for several provided in a motor vehicle assistance systems that are at least partially equipped with environmental sensors, wherein according to the DE 10 2007 058 192 A1
  • a telematics system is understood as environment sensor.
  • the central control unit is connected to the individual assistance systems at the data level and makes the information of individual environment sensors plausible by means of the information of other environment sensors. For example, the image information of a camera, the distance measurement of a Confirm radar sensors. Individual sensor information can thus be confirmed and are redundant. Such a coupling of individual signals of different sensors is also known as sensor fusion.
  • a vehicle-to-X communication device for a vehicle for wirelessly transmitting vehicle-relevant data is known. These data are thereby transmitted to surrounding vehicles or to infrastructure facilities.
  • the described communication device comprises two separate communication units, wherein the first communication unit is based on a WLAN connection and the second communication unit is based on a Remote Keyless Entry (RKE) connection.
  • RKE Remote Keyless Entry
  • the DE 10 2009 045 748 A1 discloses a method and apparatus for determining the status of a vehicle-to-vehicle wireless communication to its environment.
  • a statement about the quantity or quality of the communication participants is made. This happens, for example, by determining the duration of the message during the analysis of the radio messages.
  • each radio message may have a timestamp of a common time base at its time of dispatch, the common time base being the time base of a global satellite navigation system, such as GPS or Galileo.
  • vehicle-to-X communication systems known from the prior art are disadvantageous even when using the time base of a global satellite navigation system as a common time base in that the different satellite navigation modules have manufacturer-dependent different processing times and processing modes of the received satellite signals. Therefore, also sent at the same time vehicle-to-X messages with different time stamps are marked. For example, one and the same time stamp may indicate both the time at which all the satellite signals necessary for a position determination step are received and the time at which the processing of all the satellite signals is completed.
  • the time deviation with identical time stamps can typically be several 100 ms.
  • a time deviation of 100 ms already leads to a position error of 3 m, which is not sufficient in particular for safety-critical vehicle applications.
  • the object of the invention is therefore to propose a method which makes it possible to compensate for time deviations in the various vehicle-to-X communication systems.
  • the method for compensating a time deviation in which a first and a second vehicle-to-X communication system rely on an external time base, the first vehicle-to-X communication system determines a first internal time base from the external time base and the second one Vehicle-to-X communication system from the external time base a second internal time base. Further, the first vehicle-to-X communication system transmits vehicle-to-X data and the second vehicle-to-X communication system receives vehicle-to-X data, with vehicle-to-X data to be transmitted having one Timestamps created on the first internal timebase are flagged and detected environment sensor data are marked with a second timestamp created from the second internal timebase.
  • the method is characterized in that by means of timing of detected environment sensor data with the received vehicle-to-X data, the Time deviation of the first internal time base is determined by the second internal time base and is compensated by means of a correction value.
  • timing the environment sensor data with the received vehicle-to-X data it is possible to determine events that are described in both the environmental sensor data and the vehicle-to-X data, but are identified by different time stamps.
  • An example is, for example, carrying out emergency braking of a vehicle driving ahead of one's own vehicle.
  • timing the vehicle-to-X identified in both the environmental sensor data and the timestamps created from the first internal timebase Data detected events a possible time deviation of the first internal time base of the first vehicle-to-X communication system from the second internal time base of the second vehicle-to-X communication system. This time deviation is determined and compensated for by means of a correction value corresponding to the time deviation, which is added to or subtracted from the time stamp as an offset value.
  • the correction value determined in this way is subsequently used to time all vehicle-to-X data transmitted by the first vehicle-to-X communication system and received by the second vehicle-to-X communication system to the second internal time base of the vehicle second vehicle-to-X communication system.
  • the determined correction value in the second vehicle-to-X communication system may be for a certain period of time, e.g. 5 minutes, saved.
  • the first vehicle-to-X communication system is preferably arranged in a first motor vehicle and the second vehicle-to-X communication system is preferably arranged in a second motor vehicle.
  • the first and second vehicle-to-X communication systems access a time base of a global navigation satellite system as an external time base. Since a variety of new vehicles with position-determining devices of a global navigation satellite system, such as e.g. GPS, these vehicles thus have the ability to use the time base of the GPS without any additional effort. Another advantage is that the time base of a global navigation satellite system is comparatively precise.
  • a first data curve created by means of temporal interpolation and / or extrapolation of the environment sensor data and / or a second data curve created by temporal interpolation and / or extrapolation of the received vehicle-to-X data are used for the matching.
  • an environmental sensor system does not record the environment sensor data continuously but clocked, ie only once per work cycle.
  • the first vehicle-to-X communication system typically transmits the vehicle-to-X data only once per cycle.
  • the interpolation or extrapolation of the environment sensor data or the vehicle-to-X data nevertheless allows an apparent continuity to be generated.
  • time deviation By searching for both the environmental sensor data and the received vehicle-to-X data identical events and comparison of the time stamp can thus be determined the time deviation.
  • a temporal interpolation takes place, for example, in the form that a straight line is laid between two position information of an environment vehicle received by the vehicle-to-X communication system, the course of which with high probability the actual position of the surrounding vehicle during the time between the transmission of the two position information equivalent.
  • speed information from detected Doppler effect data of a radar sensor and speed information from received vehicle-to-X data are used for the matching.
  • the determination of the speed information of an environment vehicle from detected Doppler effect data of a radar sensor is comparatively simple and accurate.
  • the speed information of the surrounding vehicle can easily be detected and transmitted by itself, the speed information is particularly well suited for determining the time deviation and hence the correction value.
  • the method is characterized in that a state change information of a traffic signal system from acquired image data of a camera sensor and a state change information of the traffic signal system from received vehicle-to-X data are used for the matching.
  • This information is relatively easy to detect and thus advantageously offer the possibility of determining the time deviation.
  • the first vehicle-to-X communication system is associated with a traffic signal system.
  • position information from detected distance data of a distance sensor and position information from received vehicle-to-X data are used for the adjustment. Since many vehicles already have distance sensors as standard, the position information can be determined from acquired distance data and compared with the position information from the received vehicle-to-X data without additional cost and production effort. For this purpose, the relative position information from the distance data of the distance sensor usually has to be converted into an absolute position, as typically contained in the vehicle-to-X data, or vice versa. The position information is also relatively easy to determine.
  • the comparison is based on a plurality of environment sensor data records averaged by means of one or more statistical averaging methods. This increases the reliability and accuracy of the compensation according to the invention for the time deviation, since measurement errors or so-called data outliers are neutralized on average.
  • the correction value is advantageous for the correction value to be taken from a data fusion process, wherein environment sensor data and vehicle-to-X data are fused by means of the data fusion process.
  • a data fusion process an adaptation of different time bases is in any case a necessary prerequisite for the data fusion.
  • These data fusion processes often serve to improve a position determination and use different filter methods, such as a Kalman filter. Since, in such a data fusion process, time deviations therefore have to be compensated anyway, the detected time deviations can essentially be used for the method according to the invention essentially without additional computation.
  • the correction value is determined individually for each first and every second vehicle-to-X communication system. Since each vehicle-to-X communication system determines an individual internal time base, an individual determination of the correction value to compensate for the individual time deviations is also necessary.
  • a plurality of individual correction values are stored in each first vehicle-to-X communication system for a certain time.
  • the present invention further relates to a system for compensating for a time deviation, which comprises an external timer and at least a first and a second communication subscriber, wherein the first communication subscriber comprises a first vehicle-to-X communication system with a first internal timer and the second communication subscriber second vehicle-to-X communication system having a second internal timer and environment sensing and electronic matching means.
  • the first and second vehicle-to-X communication systems rely on an external time base of the external timer, wherein the first vehicle-to-X communication system determines a first internal time base and the second vehicle-to-X using the first internal timer Communication system determines a second internal time base by means of the second internal timer.
  • the first vehicle-to-X communication system transmits vehicle-to-X data and the second vehicle-to-X communication system receives vehicle-to-X data, the first internal timer transmitting vehicle-to-X data. Identifying data with a timestamp created from the first internal timebase, and wherein the second internal timer identifies captured environment sensor data with a second timestamp created from the second internal timebase.
  • the system according to the invention is characterized in that the electronic balancing means by means of a time alignment of detected environment sensor data with received vehicle-to-X data determine the time deviation of the first timer from the second timer and compensate by means of a correction value. Since the system according to the invention thus comprises all means and devices necessary for carrying out the method according to the invention, the advantages already described result.
  • the invention further relates to a use of the system according to the invention in a vehicle, in particular in a motor vehicle.
  • FIG. 11 shows GPS satellites 101, which is used as an external timer by way of example and transmits identical GPS signals 102 and 103 to communication subscribers 104 and 105.
  • Communication participants 104 and 105 are exemplary Motor vehicles, where communication participant 104 comprises first vehicle-to-X communication system 106 and communication participant 105 comprises second vehicle-to-X communication system 107.
  • Communication participant 104 furthermore comprises environmental sensor systems 108, 109 and 110 in the form of monocamera sensor 108, ultrasound sensor 109 and radar sensor 110, and communication user 15 comprises environmental sensor systems 111, 112 and 113 in the form of radar sensor 111, lidar sensor 112 and stereo camera sensor 113.
  • First vehicle-to-vehicle Communication system 16 includes first internal timer 114 and electronic matching means 115, while second vehicle-to-X communication system 107, in turn, includes second internal timer 116 and electronic matching means 117.
  • First internal timer 114 and second internal timer 116 are implemented as GPS modules and receive GPS signals 102 and 103. From GPS signal 102 first internal timer 114 determines a first internal time base and second internal timer 116 determined from GPS signal 103 second internal time base. Due to the different hardware configuration and different data processing structure of GPS modules 114 and 116, the first internal time base deviates from the second internal time base, although GPS signals 102 and 103 include identical time information.
  • vehicle 105 acquires distance data which describes the distance from vehicle 105 to vehicle 104. These distance data are identified by means of a second time stamp created from the second internal time base. From the self-position of vehicle 105 known by means of GPS module 116, absolute position information of vehicle 104 is now calculated. At the same time, vehicle-to-X data is sent from vehicle-to-X first communication system 106 to vehicle 104, which includes, among other things, absolute position information of vehicle 104. The vehicle-to-X data sent from the first vehicle-to-X communication system 106 is also characterized by a first timestamp created based on the first internal timebase. The the position information Full vehicle-to-X data is received by second vehicle-to-X communication system 107 in vehicle 105.
  • Electronic matching means 117 then time-compares the position information included in the vehicle-to-X data with the position information determined by the radar sensor 111, that is, seeks position information in the vehicle-to-X data with position information in the distance data from radar sensor 111, and the first time stamp identifying the vehicle-to-X data is compared with the second time stamp indicating the distance data. From this, second electronic matching means 117 determine a time deviation of the first time stamp from the second time stamp and compensate it by means of a correction value corresponding to the time deviation.
  • the time deviation is 250 ms since the first internal time base precedes the second internal time base 250 ms. Accordingly, the correction value is also 250 ms and is subtracted from second electronic adjustment means 117 from the first time stamp to compensate for the detected time deviation.
  • a second internal time base is determined by a second vehicle-to-X communication system from an external time base.
  • a first internal time base is determined by a first vehicle-to-X communication system from the external time base in step 202.
  • the vehicle-to-X data to be transmitted is identified with a time stamp created from the first internal time base.
  • the vehicle-to-X data to be transmitted is sent from the first vehicle-to-X communication system and received by the second vehicle-to-X communication system in step 205.
  • step 207 environmental sensor data is captured in step 206 and identified with a second timestamp from the second internal timebase.
  • the detected environment sensor data with the received vehicle-to-X data that is, in the environment sensor data and the vehicle-to-X data matching information sought to in step 208, the time deviation of the environment sensor data ken Hilden second time stamp of the Determine vehicle-to-X data indicative first timestamp.
  • a correction value is now created in method step 209 which corresponds to the specific time deviation.
  • step 210 the time deviation of the first internal time base from the second internal time base is now compensated by means of the correction value.
  • Fig. 3 shows vehicle 31 approaching on road 32 traffic signal system 33.
  • Traffic signal system 33 is equipped with first vehicle-to-X communication system 34 and vehicle 31 with second vehicle-to-X communication system 35, which includes electronic matching means 37.
  • vehicle 31 is equipped with camera sensor 36, which captures image data from traffic signal system 33.
  • Traffic signal system 33 transmits, via first vehicle-to-X communication system 34, vehicle-to-X data comprising state change information, which are identified by a first time stamp created from the first internal time base of first vehicle-to-X communication system.
  • the state change information describes that a change of state of traffic signal system 33, ie a change from red light to yellow light, will take place from the first time stamp in 5 s.
  • the camera sensor 36 detects image data describing the state change, which are identified with a time stamp created from the second internal time base, 4.5 seconds after receiving the vehicle-to-X data.
  • Electronic matching means 37 now draws the state change information from the acquired image data and the state change information from the received vehicle-to-X data to determine the time deviation and a correction value corresponding to the time deviation by the first and second timestamps.

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Description

Die Erfindung betrifft ein Verfahren zum Ausgleichen einer Zeitabweichung gemäß Oberbegriff von Anspruch 1 und ein System zum Ausgleichen einer Zeitabweichung gemäß Oberbegriff von Anspruch 10.The invention relates to a method for compensating a time deviation according to the preamble of claim 1 and a system for compensating a time deviation according to the preamble of claim 10.

Aus dem Stand der Technik ist eine Vielzahl an unterschiedlichen Umfeldsensoren in Kraftfahrzeuganwendungen bekannt. Aufgrund der vielfältigen neuen Möglichkeiten, die derartige Sensorsysteme im Zusammenhang mit Fahrerassistenzsystemen bieten, gewinnen diese zunehmend an Verbreitung. Als Umfeldsensoren werden dabei z.B. Radarsensoren, Kamerasensoren und Lidarsensoren verwendet. Ebenso sind auch Navigationssysteme, welche in der Regel GPS-basiert ausgeführt sind, in immer mehr aktuellen Fahrzeugen bereits serienmäßig vorhanden. Diese Navigationssysteme nehmen anhand von empfangenen Satellitensignalen eine Standortbestimmung vor und führen den Fahrer entlang einer mithilfe einer digitalen Karte bestimmten Fahrtroute ans Ziel. Aktuell noch nicht serienreif hingegen sind die sog. Fahrzeug-zu-X-Kommunikationssysteme, deren flächendeckende Einführung zumindest für Neufahrzeuge jedoch für die kommenden Jahre bereits beschlossen wurde und die gegenwärtig noch Gegenstand von Standardisierungsbestrebungen sind. Diese Kommunikationssysteme kommunizieren dabei drahtlos und tauschen untereinander u.a. Daten über von Umfeld- und Fahrzeugsensoren erfasste Informationen aus.From the prior art a variety of different environmental sensors in automotive applications is known. Due to the many new possibilities that such sensor systems offer in connection with driver assistance systems, they are increasingly gaining in popularity. As environmental sensors, e.g. Radar sensors, camera sensors and Lidarsensoren used. Likewise, navigation systems, which are generally designed GPS-based, already in series in more and more current vehicles. These navigation systems make a location determination based on received satellite signals and guide the driver to the destination along a route determined by a digital map. Currently, however, not yet ready for series production are the so-called vehicle-to-X communication systems whose nationwide introduction has already been adopted, at least for new vehicles for the coming years and which are currently still the subject of standardization efforts. These communication systems communicate wirelessly and exchange among themselves u.a. Data about information captured by environmental and vehicle sensors.

In diesem Zusammenhang beschreibt die DE 10 2007 058 192 A1 ein zentrales Steuergerät für mehrere in einem Kraftfahrzeug vorgesehene Assistenzsysteme, die zumindest teilweise mit Umfeldsensoren ausgestattet sind, wobei gemäß der DE 10 2007 058 192 A1 auch ein Telematiksystem als Umfeldsensor verstanden wird. Das zentrale Steuergerät ist auf Datenebene mit den einzelnen Assistenzsystemen verbunden und plausibilisiert die Informationen einzelner Umfeldsensoren mittels der Informationen anderer Umfeldsensoren. Z.B. kann die Bildinformation einer Kamera die Abstandsmessung eines Radarsensors bestätigen. Einzelne Sensorinformationen können somit bestätigt werden und liegen redundant vor. Eine derartige Kopplung von Einzelsignalen verschiedener Sensoren ist auch als Sensorfusion bekannt.In this context, the describes DE 10 2007 058 192 A1 a central control device for several provided in a motor vehicle assistance systems that are at least partially equipped with environmental sensors, wherein according to the DE 10 2007 058 192 A1 Also, a telematics system is understood as environment sensor. The central control unit is connected to the individual assistance systems at the data level and makes the information of individual environment sensors plausible by means of the information of other environment sensors. For example, the image information of a camera, the distance measurement of a Confirm radar sensors. Individual sensor information can thus be confirmed and are redundant. Such a coupling of individual signals of different sensors is also known as sensor fusion.

Aus der DE 10 2008 061 304 A1 ist eine Fahrzeug-zu-X-Kommunikationseinrichtung für ein Fahrzeug zum drahtlosen Übertragen von fahrzeugrelevanten Daten bekannt. Diese Daten werden dabei an Umgebungsfahrzeuge oder an Infrastruktureinrichtungen übertragen. Die beschriebene Kommunikationseinrichtung umfasst zwei getrennte Kommunikationseinheiten, wobei die erste Kommunikationseinheit auf der Basis einer WLAN-Verbindung und die zweite Kommunikationseinheit auf Basis einer Remote Keyless Entry (RKE)-Verbindung ausgeführt ist.From the DE 10 2008 061 304 A1 For example, a vehicle-to-X communication device for a vehicle for wirelessly transmitting vehicle-relevant data is known. These data are thereby transmitted to surrounding vehicles or to infrastructure facilities. The described communication device comprises two separate communication units, wherein the first communication unit is based on a WLAN connection and the second communication unit is based on a Remote Keyless Entry (RKE) connection.

Die DE 10 2009 045 748 A1 offenbart ein Verfahren und eine Vorrichtung zur Ermittlung des Status einer drahtlosen Fahrzeug-zu-X-Kommunikation eines Fahrzeugs zu seiner Umgebung. Dazu wird neben einer Bewertung der Übertragungsqualität von empfangenen Botschaften auch eine Aussage über die Quantität bzw. Qualität der Kommunikationsteilnehmer getroffen. Dies geschieht beispielsweise, indem bei der Analyse der Funkbotschaften die Laufzeit der Botschaft ermittelt wird. Zur Ermittlung dieser Laufzeit kann jede Funkbotschaft einen Zeitstempel aus einer gemeinsamen Zeitbasis über ihren Absendezeitpunkt aufweisen, wobei die gemeinsame Zeitbasis die Zeitbasis eines globalen Sattelitennavigationssystems, wie z.B. GPS oder Galileo, ist.The DE 10 2009 045 748 A1 discloses a method and apparatus for determining the status of a vehicle-to-vehicle wireless communication to its environment. In addition to an assessment of the transmission quality of received messages, a statement about the quantity or quality of the communication participants is made. This happens, for example, by determining the duration of the message during the analysis of the radio messages. To determine this transit time, each radio message may have a timestamp of a common time base at its time of dispatch, the common time base being the time base of a global satellite navigation system, such as GPS or Galileo.

Die aus dem Stand der Technik bekannten Fahrzeug-zu-X-Kommunikationssysteme sind jedoch selbst bei Verwendung der Zeitbasis eines globalen Sattelitennavigationssystems als gemeinsame Zeitbasis insofern nachteilbehaftet, als dass die unterschiedlichen Sattelitennavigationsempfangsmodule herstellerabhängig unterschiedliche Verarbeitungsdauern und Verarbeitungsweisen der empfangenen Sattelitensignale aufweisen. Daher können auch zeitgleich gesendete Fahrzeug-zu-X-Botschaften mit unterschiedlichen Zeitstempeln gekennzeichnet werden. Beispielsweise kann ein und derselbe Zeitstempel sowohl denjenigen Zeitpunkt kennzeichnen, zu dem alle für einen Positonsbestimmungsschritt notwendigen Satelitensignale empfangen werden, als auch denjenigen Zeitpunkt, zu dem die Verarbeitung aller Satelitensignale abgeschlossen ist.However, the vehicle-to-X communication systems known from the prior art are disadvantageous even when using the time base of a global satellite navigation system as a common time base in that the different satellite navigation modules have manufacturer-dependent different processing times and processing modes of the received satellite signals. Therefore, also sent at the same time vehicle-to-X messages with different time stamps are marked. For example, one and the same time stamp may indicate both the time at which all the satellite signals necessary for a position determination step are received and the time at which the processing of all the satellite signals is completed.

Dementsprechend kann die zeitliche Abweichung bei identischen Zeitstempeln typischerweise mehrere 100 ms betragen. Bei einer Fahrzeuggeschwindigkeit von etwa 100 km/h führt eine zeitliche Abweichung von 100 ms bereits zu einem Positionsfehler von 3 m, was insbesondere für sicherheitskritische Fahrzeuganwendungen nicht ausreichend ist.Accordingly, the time deviation with identical time stamps can typically be several 100 ms. At a vehicle speed of about 100 km / h, a time deviation of 100 ms already leads to a position error of 3 m, which is not sufficient in particular for safety-critical vehicle applications.

Die Aufgabe der Erfindung ist es daher, ein Verfahren vorzuschlagen, das ein Ausgleichen von zeitlichen Abweichungen in den verschiedenen Fahrzeug-zu-X-Kommunikationssystemen ermöglicht.The object of the invention is therefore to propose a method which makes it possible to compensate for time deviations in the various vehicle-to-X communication systems.

Diese Aufgabe wird erfindungsgemäß durch das Verfahren zum Ausgleichen einer Zeitabweichung gemäß Anspruch 1 gelöst. Gemäß dem erfindungsgemäßen Verfahren zum Ausgleichen einer Zeitabweichung, bei welchem ein erstes und ein zweites Fahrzeug-zu-X-Kommunikationssystem auf eine externe Zeitbasis zurückgreifen, bestimmt das erste Fahrzeug-zu-X-Kommunikationssystem aus der externen Zeitbasis eine erste interne Zeitbasis und das zweite Fahrzeug-zu-X-Kommunikationssystem aus der externen Zeitbasis eine zweite interne Zeitbasis. Weiterhin sendet das erste Fahrzeug-zu-X-Kommunikationssystem Fahrzeug-zu-X-Daten und das zweite Fahrzeug-zu-X-Kommunikationssystem empfängt Fahrzeug-zu-X-Daten, wobei zu sendende Fahrzeug-zu-X-Daten mit einem aus der ersten internen Zeitbasis erstellten Zeitstempel gekennzeichnet werden und erfasste Umfeldsensordaten mit einem aus der zweiten internen Zeitbasis erstellten zweiten Zeitstempel gekennzeichnet werden. Das Verfahren zeichnet sich dadurch aus, dass mittels zeitlichen Abgleichens von erfassten Umfeldsensordaten mit den empfangenen Fahrzeug-zu-X-Daten die Zeitabweichung der ersten internen Zeitbasis von der zweiten internen Zeitbasis bestimmt wird und mittels eines Korrekturwerts ausgeglichen wird.This object is achieved by the method for compensating a time deviation according to claim 1. According to the inventive method for compensating for a time deviation in which a first and a second vehicle-to-X communication system rely on an external time base, the first vehicle-to-X communication system determines a first internal time base from the external time base and the second one Vehicle-to-X communication system from the external time base a second internal time base. Further, the first vehicle-to-X communication system transmits vehicle-to-X data and the second vehicle-to-X communication system receives vehicle-to-X data, with vehicle-to-X data to be transmitted having one Timestamps created on the first internal timebase are flagged and detected environment sensor data are marked with a second timestamp created from the second internal timebase. The method is characterized in that by means of timing of detected environment sensor data with the received vehicle-to-X data, the Time deviation of the first internal time base is determined by the second internal time base and is compensated by means of a correction value.

Durch zeitliches Abgleichen der Umfeldsensordaten mit den empfangenen Fahrzeug-zu-X-Daten können Ereignisse ermittelt werden, die sowohl in den Umfeldsensordaten als auch in den Fahrzeug-zu-X-Daten beschrieben sind, jedoch mit voneinander abweichenden Zeitstempeln gekennzeichnet sind. Ein Beispiel ist etwa das Ausführen einer Notbremsung eines dem eigenen Fahrzeug vorausfahrenden Fahrzeugs. Da die Umfeldsensordaten zeitlich ebenso wie das zweite Fahrzeug-zu-X-Kommunikationssystem der zweiten internen Zeitbasis unterliegen, wird durch das zeitliche Abgleichen der sowohl in den Umfeldsensordaten als auch in den mit dem aus der ersten internen Zeitbasis erstellten Zeitstempel gekennzeichneten Fahrzeug-zu-X-Daten beschriebenen Ereignisse eine mögliche Zeitabweichung der ersten internen Zeitbasis des ersten Fahrzeug-zu-X-Kommunikationssystems von der zweiten internen Zeitbasis des zweiten Fahrzeug-zu-X-Kommunikationssystems erkannt. Diese Zeitabweichung wird bestimmt und mittels eines der Zeitabweichung entsprechenden Korrekturwerts, welcher als Offset-Wert auf den Zeitstempel aufaddiert bzw. von diesem subtrahiert wird, ausgeglichen.By timing the environment sensor data with the received vehicle-to-X data, it is possible to determine events that are described in both the environmental sensor data and the vehicle-to-X data, but are identified by different time stamps. An example is, for example, carrying out emergency braking of a vehicle driving ahead of one's own vehicle. Since the environment sensor data as well as the second vehicle-to-X communication system are subject to the second internal time base, timing the vehicle-to-X identified in both the environmental sensor data and the timestamps created from the first internal timebase Data detected events a possible time deviation of the first internal time base of the first vehicle-to-X communication system from the second internal time base of the second vehicle-to-X communication system. This time deviation is determined and compensated for by means of a correction value corresponding to the time deviation, which is added to or subtracted from the time stamp as an offset value.

Der solcherart ermittelte Korrekturwert wird im Folgenden verwendet, um alle Fahrzeug-zu-X-Daten, welche vom ersten Fahrzeug-zu-X-Kommunikationssystem gesendet und vom zweiten Fahrzeug-zu-X-Kommunikationssystem empfangen werden, zeitlich an die zweite interne Zeitbasis des zweiten Fahrzeug-zu-X-Kommunikationssystems anzupassen. Dazu kann der ermittelte Korrekturwert im zweiten Fahrzeug-zu-X-Kommunikationssystem für eine bestimmte Zeitspanne, z.B. 5 Minuten, gespeichert werden.The correction value determined in this way is subsequently used to time all vehicle-to-X data transmitted by the first vehicle-to-X communication system and received by the second vehicle-to-X communication system to the second internal time base of the vehicle second vehicle-to-X communication system. For this, the determined correction value in the second vehicle-to-X communication system may be for a certain period of time, e.g. 5 minutes, saved.

Daraus ergibt sich der Vorteil, dass eine präzise zeitliche Einordnung der empfangenen Fahrzeug-zu-X-Daten und der von den Fahrzeug-zu-X-Daten beschriebenen Ereignisse ermöglicht wird, da das erfindungsgemäße Verfahren die Zeitabweichung mittels des Korrekturwerts ausgleicht. Auf Basis dieser präzisen zeitlichen Einordnung kann die Effektivität und Wirksamkeit zahlreicher Fahrerassistenzsysteme verbessert werden.This has the advantage of allowing precise timing of the received vehicle-to-X data and the events described by the vehicle-to-X data, since the method according to the invention compensates for the time deviation by means of the correction value. On the basis of this precise temporal classification, the effectiveness and effectiveness of numerous driver assistance systems can be improved.

Das erste Fahrzeug-zu-X-Kommunikationssystem ist bevorzugt in einem ersten Kraftfahrzeug angeordnet und das zweite Fahrzeug-zu-X-Kommunikationssystem ist bevorzugt in einem zweiten Kraftfahrzeug angeordnet.The first vehicle-to-X communication system is preferably arranged in a first motor vehicle and the second vehicle-to-X communication system is preferably arranged in a second motor vehicle.

Weiterhin ist es bevorzugt, dass das erste und das zweite Fahrzeug-zu-X-Kommunikationssystem auf eine Zeitbasis eines globalen Navigationssattelitensystems als externe Zeitbasis zurückgreifen. Da serienmäßig bereits eine Vielzahl von Neufahrzeugen mit Positionsbestimmungsvorrichtungen eines globalen Navigationssattelitensystems, wie z.B. GPS, ausgestattet ist, verfügen diese Fahrzeuge somit ohne zusätzlichen Aufwand über die Möglichkeit, auf die Zeitbasis des GPS zurückzugreifen. Ein weiterer Vorteil ist darin zu sehen, dass die Zeitbasis eines globalen Navigationssattelitensystems vergleichsweise präzise ist.Further, it is preferable that the first and second vehicle-to-X communication systems access a time base of a global navigation satellite system as an external time base. Since a variety of new vehicles with position-determining devices of a global navigation satellite system, such as e.g. GPS, these vehicles thus have the ability to use the time base of the GPS without any additional effort. Another advantage is that the time base of a global navigation satellite system is comparatively precise.

Vorteilhafterweise ist es vorgesehen, dass für das Abgleichen eine mittels zeitlicher Interpolation und/oder Extrapolation der Umfeldsensordaten erstellte erste Datenkurve und/oder eine mittels zeitlicher Interpolation und/oder Extrapolation der empfangenen Fahrzeug-zu-X-Daten erstellte zweite Datenkurve herangezogen werden. In der Regel erfasst eine Umfeldsensorik die Umfeldsensordaten nicht kontinuierlich sondern getaktet, d.h., nur einmal pro Arbeitszyklus. Ebenso sendet das erste Fahrzeug-zu-X-Kommunikationssystem die Fahrzeug-zu-X-Daten in der Regel nur einmal pro Arbeitszyklus. Da die Arbeitszyklen des Fahrzeug-zu-X-Kommunikationssystems und der Umfeldsensorik jedoch in den meisten Fällen voneinander abweichend sind, kann durch die Interpolation bzw. Extrapolation der Umfeldsensordaten bzw. der Fahrzeug-zu-X-Daten dennoch eine scheinbare Kontinuität erzeugt werden. Durch Suchen von sowohl in den Umfeldsensordaten als auch in den empfangenen Fahrzeug-zu-X-Daten beschriebenen identischen Ereignissen und Vergleich der Zeitstempel kann somit die Zeitabweichung bestimmt werden. Eine zeitliche Interpolation findet z.B. in der Form statt, dass zwischen zwei mittels des Fahrzeug-zu-X-Kommunikationssystems empfangenen Positionsinformationen eines Umgebungsfahrzeugs eine Gerade gelegt wird, deren Verlauf mit großer Wahrscheinlichkeit der tatsächlichen Position des Umgebungsfahrzeugs während der Zeit zwischen dem Senden der zwei Positionsinformationen entspricht. Daraus ergibt sich der Vorteil, dass auch in den Fällen die Zeitabweichung bzw. der Korrekturwert bestimmt werden kann, in denen die Umfeldsensordaten aufgrund der getakteten Arbeitsweise der Umfeldsensorik mittels des zweiten Zeitstempels nur diskrete Zeitpunkte kennzeichnen, zu denen keine empfangenen Fahrzeug-zu-X-Daten vorliegen.Advantageously, it is provided that a first data curve created by means of temporal interpolation and / or extrapolation of the environment sensor data and / or a second data curve created by temporal interpolation and / or extrapolation of the received vehicle-to-X data are used for the matching. As a rule, an environmental sensor system does not record the environment sensor data continuously but clocked, ie only once per work cycle. Likewise, the first vehicle-to-X communication system typically transmits the vehicle-to-X data only once per cycle. However, since the working cycles of the vehicle-to-X communication system and the environmental sensors are in most cases different from each other, the interpolation or extrapolation of the environment sensor data or the vehicle-to-X data nevertheless allows an apparent continuity to be generated. By searching for both the environmental sensor data and the received vehicle-to-X data identical events and comparison of the time stamp can thus be determined the time deviation. A temporal interpolation takes place, for example, in the form that a straight line is laid between two position information of an environment vehicle received by the vehicle-to-X communication system, the course of which with high probability the actual position of the surrounding vehicle during the time between the transmission of the two position information equivalent. This results in the advantage that the time deviation or the correction value can also be determined in cases in which the surrounding sensor data, due to the clocked mode of operation of the environmental sensor system by means of the second time stamp, characterizes only discrete points in time to which no received vehicle-to-vehicle Data is available.

In einer weiteren bevorzugten Ausführungsform ist es vorgesehen, dass für das Abgleichen eine Geschwindigkeitsinformation aus erfassten Dopplereffektdaten eines Radarsensors und eine Geschwindigkeitsinformation aus empfangenen Fahrzeug-zu-X-Daten herangezogen werden. Die Bestimmung der Geschwindigkeitsinformation eines Umgebungsfahrzeugs aus erfassten Dopplereffektdaten eines Radarsensors ist vergleichsweise einfach und genau möglich. Da außerdem die Geschwindigkeitsinformation des Umgebungsfahrzeugs von diesem selbst problemlos erfasst und gesendet werden kann, ist die Geschwindigkeitsinformation besonders gut zur Bestimmung der Zeitabweichung und somit des Korrekturwerts geeignet.In a further preferred embodiment, it is provided that speed information from detected Doppler effect data of a radar sensor and speed information from received vehicle-to-X data are used for the matching. The determination of the speed information of an environment vehicle from detected Doppler effect data of a radar sensor is comparatively simple and accurate. In addition, since the speed information of the surrounding vehicle can easily be detected and transmitted by itself, the speed information is particularly well suited for determining the time deviation and hence the correction value.

Vorzugsweise zeichnet sich das Verfahren dadurch aus, dass für das Abgleichen eine Zustandsänderungsinformation einer Verkehrssignalanlage aus erfassten Bilddaten eines Kamerasensors und eine Zustandsänderungsinformation der Verkehrssignalanlage aus empfangenen Fahrzeug-zu-X-Daten herangezogen werden. Diese Informationen sind vergleichsweise einfach erfassbar und bieten somit vorteilhaft die Möglichkeit, die Zeitabweichung zu bestimmen. In diesem Fall ist das erste Fahrzeug-zu-X-Kommunikationssystem einer Verkehrssignalanlage zugeordnet.Preferably, the method is characterized in that a state change information of a traffic signal system from acquired image data of a camera sensor and a state change information of the traffic signal system from received vehicle-to-X data are used for the matching. This information is relatively easy to detect and thus advantageously offer the possibility of determining the time deviation. In this case, the first vehicle-to-X communication system is associated with a traffic signal system.

Zweckmäßigerweise ist es vorgesehen, dass für das Abgleichen eine Positionsinformation aus erfassten Abstandsdaten eines Abstandssensors und eine Positionsinformation aus empfangenen Fahrzeug-zu-X-Daten herangezogen werden. Da viele Fahrzeuge serienmäßig bereits über Abstandsensoren verfügen, kann ohne zusätzlichen Kosten- und Herstellungsaufwand die Positionsinformation aus erfassten Abstandsdaten bestimmt werden und mit der Positionsinformation aus den empfangenen Fahrzeug-zu-X-Daten abgeglichen werden. Dazu muss in der Regel noch die relative Positionsinformation aus den Abstandsdaten des Abstandssensors in eine absolute Position, wie typischerweise in den Fahrzeug-zu-X-Daten enthalten, umgerechnet werden oder umgekehrt. Die Positionsinformationen sind außerdem vergleichsweise einfach bestimmbar.Expediently, it is provided that position information from detected distance data of a distance sensor and position information from received vehicle-to-X data are used for the adjustment. Since many vehicles already have distance sensors as standard, the position information can be determined from acquired distance data and compared with the position information from the received vehicle-to-X data without additional cost and production effort. For this purpose, the relative position information from the distance data of the distance sensor usually has to be converted into an absolute position, as typically contained in the vehicle-to-X data, or vice versa. The position information is also relatively easy to determine.

Bevorzugt ist es vorgesehen, dass dem Abgleichen eine Vielzahl von mittels eines oder mehrerer statistischer Mittelungsverfahren gemittelter Umfeldsensordatensätze zugrunde gelegt wird. Dadurch steigt die Zuverlässigkeit und Genauigkeit des erfindungsgemäßen Ausgleichens der Zeitabweichung, da Messfehler bzw. sog. Datenausreißer im Mittel neutralisiert werden.It is preferably provided that the comparison is based on a plurality of environment sensor data records averaged by means of one or more statistical averaging methods. This increases the reliability and accuracy of the compensation according to the invention for the time deviation, since measurement errors or so-called data outliers are neutralized on average.

Außerdem ist es vorteilhaft, dass der Korrekturwert einem Datenfusionsprozess entnommen wird, wobei mittels des Datenfusionsprozesses Umfeldsensordaten und Fahrzeug-zu-X-Daten fusioniert werden. Bei einem derartigen an sich bekannten Datenfusionsprozess ist eine Anpassung unterschiedlicher Zeitbasen ohnehin eine notwendige Voraussetzung für die Datenfusion. Diese Datenfusionsprozesse dienen dabei oftmals der Verbesserung einer Positionsbestimmung und nutzen unterschiedliche Filterverfahren, wie z.B. einen Kalmanfilter. Da bei einem derartigen Datenfusionsprozess also ohnehin Zeitabweichungen ausgeglichen werden müssen, können die erkannten Zeitabweichungen im Wesentlichen ohne zusätzlichen Rechenaufwand vorteilhafterweise für das erfindungsgemäße verfahren herangezogen werden.In addition, it is advantageous for the correction value to be taken from a data fusion process, wherein environment sensor data and vehicle-to-X data are fused by means of the data fusion process. In such a known data fusion process, an adaptation of different time bases is in any case a necessary prerequisite for the data fusion. These data fusion processes often serve to improve a position determination and use different filter methods, such as a Kalman filter. Since, in such a data fusion process, time deviations therefore have to be compensated anyway, the detected time deviations can essentially be used for the method according to the invention essentially without additional computation.

Weiterhin ist es vorgesehen, dass der Korrekturwert für jedes erste und jedes zweite Fahrzeug-zu-X-Kommunikationssystem individuell bestimmt wird. Da jedes Fahrzeug-zu-X-Kommunikationssystem eine individuelle interne Zeitbasis bestimmt, ist auch eine individuelle Bestimmung des Korrekturwerts zum Ausgleichen der individuellen Zeitabweichungen notwendig. Vorteilhafterweise wird eine Vielzahl an individuellen Korrekturwerten in jedem ersten Fahrzeug-zu-X-Kommunikationssystem für eine bestimmte Zeit gespeichert.Furthermore, it is provided that the correction value is determined individually for each first and every second vehicle-to-X communication system. Since each vehicle-to-X communication system determines an individual internal time base, an individual determination of the correction value to compensate for the individual time deviations is also necessary. Advantageously, a plurality of individual correction values are stored in each first vehicle-to-X communication system for a certain time.

Die vorliegende Erfindung betrifft weiterhin ein System zum Ausgleichen einer Zeitabweichung, welches einen externen Zeitgeber und mindestens einen ersten und einen zweiten Kommunikationsteilnehmer umfasst, wobei der erste Kommunikationsteilnehmer ein erstes Fahrzeug-zu-X-Kommunikationssystem mit einem ersten internen Zeitgeber umfasst und der zweite Kommunikationsteilnehmer ein zweites Fahrzeug-zu-X-Kommunikationssystem mit einem zweiten internen Zeitgeber und Umfeldsensorik und elektronische Abgleichmittel umfasst. Das erste und das zweite Fahrzeug-zu-X-Kommunikationssystem greifen auf eine externe Zeitbasis des externen Zeitgebers zurück, wobei das erste Fahrzeug-zu-X-Kommunikationssystem mittels des ersten internen Zeitgebers eine erste interne Zeitbasis bestimmt und das zweite Fahrzeug-zu-X-Kommunikationssystem mittels des zweiten internen Zeitgebers eine zweite interne Zeitbasis bestimmt. Weiterhin sendet das erste Fahrzeug-zu-X-Kommunikationssystem Fahrzeug-zu-X-Daten und das zweite Fahrzeug-zu-X-Kommunikationssystem empfängt Fahrzeug-zu-X-Daten, wobei der erste interne Zeitgeber zu sendende Fahrzeug-zu-X-Daten mit einem aus der ersten internen Zeitbasis erstellten Zeitstempel kennzeichnet und wobei der zweite interne Zeitgeber erfasste Umfeldsensordaten mit einem aus der zweiten internen Zeitbasis erstellten zweiten Zeitstempel kennzeichnet. Das erfindungsgemäße System zeichnet sich dadurch aus, dass die elektronischen Abgleichmittel mittels eines zeitlichen Abgleichens von erfassten Umfeldsensordaten mit empfangenen Fahrzeug-zu-X-Daten die zeitliche Abweichung des ersten Zeitgebers vom zweiten Zeitgeber bestimmen und mittels eines Korrekturwerts ausgleichen. Da das erfindungsgemäße System somit alle zur Ausführung des erfindungsgemäßen Verfahrens notwendigen Mittel und Vorrichtungen umfasst, ergeben sich die bereits beschriebenen Vorteile.The present invention further relates to a system for compensating for a time deviation, which comprises an external timer and at least a first and a second communication subscriber, wherein the first communication subscriber comprises a first vehicle-to-X communication system with a first internal timer and the second communication subscriber second vehicle-to-X communication system having a second internal timer and environment sensing and electronic matching means. The first and second vehicle-to-X communication systems rely on an external time base of the external timer, wherein the first vehicle-to-X communication system determines a first internal time base and the second vehicle-to-X using the first internal timer Communication system determines a second internal time base by means of the second internal timer. Further, the first vehicle-to-X communication system transmits vehicle-to-X data and the second vehicle-to-X communication system receives vehicle-to-X data, the first internal timer transmitting vehicle-to-X data. Identifying data with a timestamp created from the first internal timebase, and wherein the second internal timer identifies captured environment sensor data with a second timestamp created from the second internal timebase. The system according to the invention is characterized in that the electronic balancing means by means of a time alignment of detected environment sensor data with received vehicle-to-X data determine the time deviation of the first timer from the second timer and compensate by means of a correction value. Since the system according to the invention thus comprises all means and devices necessary for carrying out the method according to the invention, the advantages already described result.

Bevorzugt ist es vorgesehen, dass die Umfeldsensorik ein oder mehrere Elemente aus der Gruppe

  • Radarsensor,
  • optischer Kamerasensor,
  • Lidarsensor,
  • Lasersensor und
  • Ultraschallsensor sind. Die genannten Elemente sind dazu geeignet, Umfeldsensordaten zu erfassen, welche mit den empfangen Fahrzeug-zu-X-Daten abgeglichen werden können. Somit können sie vorteilhaft für das erfindungsgemäße System bzw. Verfahren herangezogen werden.
It is preferably provided that the environment sensor system one or more elements from the group
  • Radar sensor,
  • optical camera sensor,
  • lidar,
  • Laser sensor and
  • Ultrasonic sensor are. The elements mentioned are suitable for detecting environmental sensor data which can be compared with the received vehicle-to-X data. Thus, they can be used advantageously for the system or method according to the invention.

Außerdem ist es vorteilhaft, dass die Fahrzeug-zu-X-Kommunikationsmittel auf Basis einer oder mehrerer Verbindungsklassen aus der Gruppe

  • WLAN-Verbindung, insbesondere nach IEEE 802.11,
  • ISM-Verbindung (Industrial, Scientific, Medical Band),
  • Bluetooth®-Verbindung,
  • ZigBee-Verbindung,
  • UWB-Verbindung (Ultra Wide Band),
  • WiMax®-Verbindung (Worldwide Interoperability for Microwave Access),
  • Infrarotverbindung,
  • Mobilfunkverbindung und
  • radarbasierter Kommunikation Fahrzeug-zu-X-Daten senden und/oder empfangen. Die genannten Verbindungsarten bieten unterschiedliche Vorteile, je nach Art, Wellenlänge und verwendetem Datenprotokoll. So ermöglichen einige der genannten Verbindungsarten z.B. eine vergleichsweise hohe Datenübertragungsrate und einen vergleichsweise schnellen Verbindungsaufbau, andere hingegen eignen sich weitestgehend gut zur Datenübertragung um Sichthindernisse herum. Durch die Kombination und gleichzeitige bzw. parallele Nutzung mehrerer dieser Verbindungsarten ergeben sich weitere Vorteile, da so auch Nachteile einzelner Verbindungsarten ausgeglichen werden können.
In addition, it is advantageous for the vehicle-to-X communication means to be based on one or more connection classes from the group
  • WLAN connection, especially according to IEEE 802.11,
  • ISM connection (Industrial, Scientific, Medical Band),
  • Bluetooth ® connection,
  • ZigBee connection,
  • UWB connection (Ultra Wide Band),
  • WiMax ® connection (Worldwide Interoperability for Microwave Access)
  • Infrared,
  • Mobile connection and
  • radar-based communication send and / or receive vehicle-to-X data. The types of connection offer different advantages, depending on the type, Wavelength and data protocol used. For example, some of the above-mentioned types of connection allow, for example, a comparatively high data transmission rate and a comparatively fast connection establishment, while others are suitable for data transmission around visual obstacles as far as possible. The combination and simultaneous or parallel use of several of these types of connections provide further advantages, as well as disadvantages of individual types of connections can be compensated.

Ein weiterer Aspekt der Erfindung betrifft einen zweiten Kommunikationsteilnehmer, der über ein Fahrzeug-zu-X-Kommunikationssystem von einem ersten Kommunikationsteilnehmer mit einem ersten Fahrzeug-zu-X-Kommunikationssystem Fahrzeug-zu-X-Daten empfängt, die durch einen vom einem ersten internen Zeitgeber mit einem aus der ersten internen Zeitbasis erstellten Zeitstempel gekennzeichnet sind, umfassend

  • das Fahrzeug-zu-X-Kommunikationssystem, das ausgebildet ist, um auf eine externe Zeitbasis eines externen Zeitgebers zurückzugreifen, mit
  • einem zweiten internen Zeitgeber (114, 116) zum Bestimmen einer zweiten internen Zeitbasis,
  • einer Umfeldsensorik zum Erfassen von Umfeldsensordaten, die mit einem aus der zweiten internen Zeitbasis erstellten zweiten Zeitstempel gekennzeichnet sind,
wobei elektronische Abgleichmittel derart ausgebildet sind, dass sie mittels eines zeitlichen Abgleichens von erfassten Umfeldsensordaten mit empfangenen Fahrzeug-zu-X-Daten die zeitliche Abweichung des ersten Zeitgebers vom zweiten Zeitgeber bestimmen und mittels eines Korrekturwerts ausgleichen.A further aspect of the invention relates to a second communication subscriber receiving vehicle-to-X data via a vehicle-to-X communication system from a first communication party having a first vehicle-to-X communication system through one of a first internal communication system Timers are marked with a timestamp created from the first internal timebase, comprising
  • the vehicle-to-X communication system configured to access an external time base of an external timer
  • a second internal timer (114, 116) for determining a second internal time base,
  • an environment sensor system for detecting environmental sensor data that is identified by a second time stamp created from the second internal time base,
wherein electronic adjustment means are designed such that they determine the time deviation of the first timer from the second timer by means of a time alignment of detected environmental sensor data with received vehicle-to-X data and compensate by means of a correction value.

Bevorzugt ist es vorgesehen, dass das System das erfindungsgemäße Verfahren ausführt.It is preferably provided that the system carries out the method according to the invention.

Die Erfindung betrifft weiterhin eine Verwendung des erfindungsgemäßen Systems in einem Fahrzeug, insbesondere in einem Kraftfahrzeug.The invention further relates to a use of the system according to the invention in a vehicle, in particular in a motor vehicle.

Weitere bevorzugte Ausführungsformen ergeben sich aus den Unteransprüchen und der nachfolgenden Beschreibung eines Ausführungsbeispiels an Hand von Figuren.Further preferred embodiments will become apparent from the subclaims and the following description of an embodiment with reference to figures.

Es zeigt

  • Fig. 1 eine mögliche Ausführungsform des erfindungsgemäßen Verfahrens zum Ausgleichen einer Zeitabweichung,
  • Fig. 2 einen beispielhaften Ablauf des erfindungsgemäßen Verfahrens in Form eines Flussdiagramms und
  • Fig. 3 ein Fahrzeug, welches eine
It shows
  • Fig. 1 a possible embodiment of the method according to the invention for compensating a time deviation,
  • Fig. 2 an exemplary sequence of the method according to the invention in the form of a flow chart and
  • Fig. 3 a vehicle, which is a

Zustandsänderungsinformation einer Verkehrssignalanlage aus erfassten Bilddaten und aus empfangenen Fahrzeug-zu-X-Daten für ein zeitliches Abgleichen heranzieht.Change state information of a traffic signal system from acquired image data and from received vehicle-to-X data for a time alignment.

Fig. 1 zeigt GPS-Satelliten 101, welcher beispielsgemäß als externer Zeitgeber verwendet wird und identische GPS-Signale 102 und 103 an Kommunikationsteilnehmer 104 und 105 sendet. Kommunikationsteilnehmer 104 und 105 sind beispielsgemäß Kraftfahrzeuge, wobei Kommunikationsteilnehmer 104 erstes Fahrzeug-zu-X-Kommunikationssystem 106 umfasst und Kommunikationsteilnehmer 105 zweites Fahrzeug-zu-X-Kommunikationssystem 107 umfasst. Kommunikationsteilnehmer 104 umfasst weiterhin Umfeldsensorik 108, 109 und 110 in Form von Monokamerasensor 108, Ultraschallsensor 109 und Radarsensor 110 und Kommunikationsteilnehmer 15 umfasst Umfeldsensorik 111, 112 und 113 in Form von Radarsensor 111, Lidarsensor 112 und Stereokamerasensor 113. Erstes Fahrzeug-zu-X-Kommunikationssystem 16 umfasst seinerseits ersten internen Zeitgeber 114 und elektronische Abgleichmittel 115, während zweites Fahrzeug-zu-X-Kommunikationssystem 107 seinerseits zweiten internen Zeitgeber 116 und elektronische Abgleichmittel 117 umfasst. Erster interner Zeitgeber 114 und zweiter interner Zeitgeber 116 sind als GPS-Module ausgeführt und empfangen GPS-Signale 102 und 103. Aus GPS-Signal 102 bestimmt erster interner Zeitgeber 114 eine erste interne Zeitbasis und aus GPS-Signal 103 bestimmt zweiter interner Zeitgeber 116 eine zweite interne Zeitbasis. Aufgrund des unterschiedlichen Hardwareaufbaus und der unterschiedlichen Datenverarbeitungsstruktur von GPS-Modulen 114 und 116 weicht die erste interne Zeitbasis von der zweiten internen Zeitbasis ab, obwohl GPS-Signale 102 und 103 identische Zeitinformationen umfassen. Mittels Radarsensor 111 erfasst Fahrzeug 105 Abstandsdaten, welche den Abstand von Fahrzeug 105 zu Fahrzeug 104 beschreiben. Diese Abstanddaten werden mittels eines aus der zweiten internen Zeitbasis erstellten zweiten Zeitstempels gekennzeichnet. Aus der mittels GPS-Modul 116 bekannten Eigenposition von Fahrzeug 105 wird nun eine absolute Positionsinformation von Fahrzeug 104 errechnet. Gleichzeitig werden von erstem Fahrzeug-zu-X-Kommunikationssystem 106 in Fahrzeug 104 Fahrzeug-zu-X-Daten versendet, welche unter anderem eine absolute Positionsinformation von Fahrzeug 104 umfassen. Die von erstem Fahrzeug-zu-X-Kommunikationssystem 106 gesendeten Fahrzeug-zu-X-Daten sind außerdem durch einen ersten Zeitstempel gekennzeichnet, der auf Basis der ersten internen Zeitbasis erstellt wurde. Die die Positionsinformation umfassenden Fahrzeug-zu-X-Daten werden von zweitem Fahrzeug-zu-X-Kommunikationssystem 107 in Fahrzeug 105 empfangen. Elektronische Abgleichmittel 117 gleichen nun die von den Fahrzeug-zu-X-Daten umfasste Positionsinformation mit der mittels Radarsensor 111 bestimmten Positionsinformation zeitlich ab, d.h. es wird eine Positionsinformation in den Fahrzeug-zu-X-Daten gesucht, die mit einer Positionsinformation in den Abstandsdaten von Radarsensor 111 übereinstimmt und der die Fahrzeug-zu-X-Daten kennzeichnende erste Zeitstempel wird mit dem die Abstandsdaten kennzeichnenden zweiten Zeitstempel verglichen. Daraus bestimmen zweite elektronische Abgleichmittel 117 eine Zeitabweichung des ersten Zeitstempels vom zweiten Zeitstempel und gleichen diese mittels eines der Zeitabweichung entsprechenden Korrekturwerts aus. Beispielsgemäß beträgt die Zeitabweichung 250 ms, da die erste interne Zeitbasis der zweiten internen Zeitbasis 250 ms vorauseilt. Der Korrekturwert beträgt entsprechend ebenfalls 250 ms und wird von zweiten elektronischen Abgleichmitteln 117 vom ersten Zeitstempel subtrahiert, um die erkannte Zeitabweichung auszugleichen. Fig. 1 FIG. 11 shows GPS satellites 101, which is used as an external timer by way of example and transmits identical GPS signals 102 and 103 to communication subscribers 104 and 105. Communication participants 104 and 105 are exemplary Motor vehicles, where communication participant 104 comprises first vehicle-to-X communication system 106 and communication participant 105 comprises second vehicle-to-X communication system 107. Communication participant 104 furthermore comprises environmental sensor systems 108, 109 and 110 in the form of monocamera sensor 108, ultrasound sensor 109 and radar sensor 110, and communication user 15 comprises environmental sensor systems 111, 112 and 113 in the form of radar sensor 111, lidar sensor 112 and stereo camera sensor 113. First vehicle-to-vehicle Communication system 16, in turn, includes first internal timer 114 and electronic matching means 115, while second vehicle-to-X communication system 107, in turn, includes second internal timer 116 and electronic matching means 117. First internal timer 114 and second internal timer 116 are implemented as GPS modules and receive GPS signals 102 and 103. From GPS signal 102 first internal timer 114 determines a first internal time base and second internal timer 116 determined from GPS signal 103 second internal time base. Due to the different hardware configuration and different data processing structure of GPS modules 114 and 116, the first internal time base deviates from the second internal time base, although GPS signals 102 and 103 include identical time information. By means of radar sensor 111, vehicle 105 acquires distance data which describes the distance from vehicle 105 to vehicle 104. These distance data are identified by means of a second time stamp created from the second internal time base. From the self-position of vehicle 105 known by means of GPS module 116, absolute position information of vehicle 104 is now calculated. At the same time, vehicle-to-X data is sent from vehicle-to-X first communication system 106 to vehicle 104, which includes, among other things, absolute position information of vehicle 104. The vehicle-to-X data sent from the first vehicle-to-X communication system 106 is also characterized by a first timestamp created based on the first internal timebase. The the position information Full vehicle-to-X data is received by second vehicle-to-X communication system 107 in vehicle 105. Electronic matching means 117 then time-compares the position information included in the vehicle-to-X data with the position information determined by the radar sensor 111, that is, seeks position information in the vehicle-to-X data with position information in the distance data from radar sensor 111, and the first time stamp identifying the vehicle-to-X data is compared with the second time stamp indicating the distance data. From this, second electronic matching means 117 determine a time deviation of the first time stamp from the second time stamp and compensate it by means of a correction value corresponding to the time deviation. By way of example, the time deviation is 250 ms since the first internal time base precedes the second internal time base 250 ms. Accordingly, the correction value is also 250 ms and is subtracted from second electronic adjustment means 117 from the first time stamp to compensate for the detected time deviation.

In Fig. 2 ist eine mögliche Ausführungsform des erfindungsgemäßen Verfahrens in Form eines Flussdiagramms dargestellt. In Verfahrensschritt 201 wird von einem zweiten Fahrzeug-zu-X-Kommunikationssystem aus einer externen Zeitbasis eine zweite interne Zeitbasis bestimmt. Gleichzeitig wird in Schritt 202 von einem ersten Fahrzeug-zu-X-Kommunikationssystem aus der externen Zeitbasis eine erste interne Zeitbasis bestimmt. In Schritt 203 werden im ersten Fahrzeug-zu-X-Kommunikationssystem die zu sendenden Fahrzeug-zu-X-Daten mit einem aus der ersten internen Zeitbasis erstellten Zeitstempel gekennzeichnet. Im folgenden Schritt 204 werden die zu sendenden Fahrzeug-zu-X-Daten vom ersten Fahrzeug-zu-X-Kommunikationssystem gesendet und in Schritt 205 vom zweiten Fahrzeug-zu-X-Kommunikationssystem empfangen. Außerdem werden in Schritt 206 Umfeldsensordaten erfasst und mit einem zweiten Zeitstempel aus der zweiten internen Zeitbasis gekennzeichnet. In Verfahrensschritt 207 werden nun die erfassten Umfeldsensordaten mit den empfangenen Fahrzeug-zu-X-Daten zeitlich abgeglichen, d.h., es werden in den Umfeldsensordaten und den Fahrzeug-zu-X-Daten übereinstimmende Informationen gesucht, um in Schritt 208 die Zeitabweichung des die Umfeldsensordaten kenzeichnenden zweiten Zeitstempels von dem die Fahrzeug-zu-X-Daten kennzeichnenden ersten Zeitstempel festzustellen. Anhand der bestimmten Zeitabweichung wird nun in Verfahrensschritt 209 ein Korrekturwert erstellt, welcher der bestimmten Zeitabweichung entspricht. In Schritt 210 wird nun die Zeitabweichung der ersten internen Zeitbasis von der zweiten internen Zeitbasis mittels des Korrekturwerts ausgeglichen.In Fig. 2 a possible embodiment of the method according to the invention is shown in the form of a flow chart. In method step 201, a second internal time base is determined by a second vehicle-to-X communication system from an external time base. At the same time, a first internal time base is determined by a first vehicle-to-X communication system from the external time base in step 202. In step 203, in the first vehicle-to-X communication system, the vehicle-to-X data to be transmitted is identified with a time stamp created from the first internal time base. In the following step 204, the vehicle-to-X data to be transmitted is sent from the first vehicle-to-X communication system and received by the second vehicle-to-X communication system in step 205. In addition, environmental sensor data is captured in step 206 and identified with a second timestamp from the second internal timebase. In method step 207, the detected environment sensor data with the received vehicle-to-X data, that is, in the environment sensor data and the vehicle-to-X data matching information sought to in step 208, the time deviation of the environment sensor data kenzeichenden second time stamp of the Determine vehicle-to-X data indicative first timestamp. Based on the specific time deviation, a correction value is now created in method step 209 which corresponds to the specific time deviation. In step 210, the time deviation of the first internal time base from the second internal time base is now compensated by means of the correction value.

Fig. 3 zeigt Fahrzeug 31, welches sich auf Straße 32 Verkehrssignalanlage 33 nähert. Verkehrssignalanlage 33 ist mit erstem Fahrzeug-zu-X-Kommunikationssystem 34 ausgestattet und Fahrzeug 31 mit zweitem Fahrzeug-zu-X-Kommunikationssystem 35, welches elektronische Abgleichmittel 37 umfasst. Außerdem ist Fahrzeug 31 mit Kamerasensor 36 ausgestattet, welcher Bilddaten von Verkehrssignalanlage 33 erfasst. Verkehrssignalanlage 33 sendet über erstes Fahrzeug-zu-X-Kommunikationssystem 34 eine Zustandsänderungsinformation umfassende Fahrzeug-zu-X-Daten, welche mit einem aus der ersten internen Zeitbasis von erstem Fahrzeug-zu-X-Kommunikationssystem 34 erstellten ersten Zeitstempel gekennzeichnet sind. Die Zustandsänderungsinformation beschreibt, dass eine Zustandsänderung von Verkehrssignalanlage 33, d.h. ein Umschalten von Rotlicht auf Gelblicht, ausgehend vom ersten Zeitstempel in 5 s erfolgen wird. Kamerasensor 36 erfasst die Zustandsänderung beschreibende Bilddaten, welche mit einem aus der zweiten internen Zeitbasis erstellten Zeitstempel gekennzeichnet werden, 4,5 s nach Empfang der Fahrzeug-zu-X-Daten. Elektronische Abgleichmittel 37 ziehen nun die Zustandsänderungsinformation aus den erfassten Bilddaten und die Zustandsänderungsinformation aus den empfangenen Fahrzeug-zu-X-Daten heran, um mittels des ersten und des zweiten Zeitstempels die Zeitabweichung und einen der Zeitabweichung entsprechenden Korrekturwert zu bestimmen. Fig. 3 shows vehicle 31 approaching on road 32 traffic signal system 33. Traffic signal system 33 is equipped with first vehicle-to-X communication system 34 and vehicle 31 with second vehicle-to-X communication system 35, which includes electronic matching means 37. In addition, vehicle 31 is equipped with camera sensor 36, which captures image data from traffic signal system 33. Traffic signal system 33 transmits, via first vehicle-to-X communication system 34, vehicle-to-X data comprising state change information, which are identified by a first time stamp created from the first internal time base of first vehicle-to-X communication system. The state change information describes that a change of state of traffic signal system 33, ie a change from red light to yellow light, will take place from the first time stamp in 5 s. The camera sensor 36 detects image data describing the state change, which are identified with a time stamp created from the second internal time base, 4.5 seconds after receiving the vehicle-to-X data. Electronic matching means 37 now draws the state change information from the acquired image data and the state change information from the received vehicle-to-X data to determine the time deviation and a correction value corresponding to the time deviation by the first and second timestamps.

Claims (13)

  1. A method for compensating for a time discrepancy,
    - in which a first and a second vehicle-to-X communication system (106, 107, 34, 35) resort to an external time base,
    - wherein the first vehicle-to-X communication system (106, 107, 34, 35) determines a first internal time base from the external time base and the second vehicle-to-X communication system (106, 107, 34, 35) determines a second internal time base from the external time base,
    - wherein the first vehicle-to-X communication system (106, 107, 34, 35) sends vehicle-to-X data and the second vehicle-to-X communication system (106, 107, 34, 35) receives vehicle-to-X data,
    - wherein vehicle-to-X data to be sent are identified using a first time stamp created from the first internal time base, and
    - wherein captured ambient sensor data are identified using a second time stamp created from the second internal time base,
    characterized in that
    temporal consistency checking between the captured ambient sensor data and the received vehicle-to-X data is used to determine the time discrepancy between the first internal time base and the second internal time base and to compensate for said time discrepancy using a correction value.
  2. The method according to Claim 1,
    characterized in that
    the first and second vehicle-to-X communication systems (106, 107, 34, 35) resort to a time base of a global navigation satellite system (101) as the external time base.
  3. The method according to at least one of Claims 1 or 2, characterized in that
    the consistency checking involves the use of a first data curve created by temporal interpolation and/or extrapolation of the ambient sensor data and/or a second data curve created by temporal interpolation and/or extrapolation of the received vehicle-to-X data.
  4. The method according to at least one of Claims 1 to 3, characterized in that
    the consistency checking involves the use of a piece of speed information from captured Doppler effect data from a radar sensor and a piece of speed information from received vehicle-to-X data.
  5. The method according to at least one of Claims 1 to 4, characterized in that
    the consistency checking involves the use of a piece of state change information for a traffic signal installation (33) from captured image data from a camera sensor (108, 113, 36) and a piece of state change information for the traffic signal installation (33) from received vehicle-to-X data.
  6. The method according to at least one of Claims 1 to 5, characterized in that
    the consistency checking involves the use of a piece of position information from captured distance data from a distance sensor (109, 110, 111, 112, 113, 36) and a piece of position information from received vehicle-to-X data.
  7. The method according to at least one of Claims 1 to 6, characterized in that
    the consistency checking is based on a multiplicity of ambient sensor data records averaged using one or more statistical averaging methods.
  8. The method according to at least one of Claims 1 to 7, characterized in that
    the correction value is taken from a data fusion process, wherein the data fusion process is used to fuse ambient sensor data and vehicle-to-X data.
  9. The method according to at least one of Claims 1 to 8, characterized in that
    the correction value is determined for each first and each second vehicle-to-X communication system individually.
  10. A system for compensating for a time discrepancy, in particular in accordance with a method according to any one of Claims 1 to 9, comprising
    a) an external timer (101),
    b) a first communication subscriber (104, 105) which comprises a first vehicle-to-X communication system (106, 107, 34, 35) having
    a first internal timer (114, 116), wherein the first vehicle-to-X communication system (106, 107, 34, 35) is configured to resort to an external time base of the external timer and to use the first internal timer (114, 116) to determine a first time base from the external time base, and
    wherein the first vehicle-to-X communication system (106, 107, 34, 35) is configured to send vehicle-to-X data which are identified by the first internal timer (114, 116) with a time stamp created from the first internal time base, and
    c) a second communication subscriber (104, 105) which comprises a second vehicle-to-X communication system (106, 107, 34, 35)
    having a second internal timer (114, 116) and electronic consistency checking means (115, 117), wherein
    the second vehicle-to-X communication system (106, 107, 34, 35) is configured to resort to the external time base of the external timer and to use the second internal timer (114, 116) to determine a second time base from the external time base, and
    wherein the second vehicle-to-X communication system (106, 107, 34, 35) is configured to receive vehicle-to-X data, and which comprises ambient sensors (108, 109, 110, 111, 112, 113, 36) to capture ambient sensor data, which are identified by means of the second internal timer with a second time stamp created from the second internal time base,
    characterized in that
    the electronic consistency checking means (115, 117, 37) are configured to use temporal consistency checking between captured ambient sensor data and received vehicle-to-X data to determine the time discrepancy between the first timer (114, 116) and the second timer (114, 116) and to compensate for said time discrepancy using a correction value.
  11. The system according to Claim 10,
    characterized in that
    the ambient sensors (108, 109, 110, 111, 112, 113, 36) are one or more elements selected from the group consisting of
    - a radar sensor (110, 111),
    - an optical camera sensor (108, 113),
    - a lidar sensor (112),
    - a laser sensor, and
    - an ultrasonic sensor (109).
  12. The system according to at least one of Claims 10 and 11, characterized in that
    the vehicle-to-X communication means send and/or receive vehicle-to-X data on the basis of one or more connection classes selected from the group consisting of
    - a WLAN connection, in particular in accordance with IEEE 802.11,
    - an ISM (Industrial, Scientific, Medical Band) connection,
    - a Bluetooth® connection,
    - a ZigBee connection,
    - a UWB (Ultra Wide Band) connection,
    - a WiMax® (Worldwide Interoperability for Microwave Access) connection,
    - an infrared connection,
    - a mobile radio connection and
    - radar-based communication.
  13. A second communication subscriber (105) which is configured to receive vehicle-to-X data by means of a vehicle-to-X communication system (107, 35) from a first communication subscriber (104) having a first vehicle-to-X communication system (106, 34),
    - wherein the first vehicle-to-X communication system (106, 35) is configured to resort to an external time base of an external timer and to use a first internal timer (114) to determine a first internal time base from the external time base,
    - wherein the vehicle-to-X data are identified by the first internal timer (114) with a time stamp created from the first internal time base, comprising
    - the vehicle-to-X communication system (107, 35) which is configured to resort to the external time base of the external timer, having
    - a second internal timer (116) to determine a second internal time base from the external time base,
    - ambient sensors (111, 112, 113, 36) to capture ambient sensor data which are identified using a second time stamp created from the second internal time base,
    characterized by
    electronic consistency checking means (117) which are configured to use temporal consistency checking between captured ambient sensor data and received vehicle-to-X data to determine the time discrepancy between the first timer (114) and the second timer (116) and to compensate for said time discrepancy using a correction value.
EP13752885.7A 2012-08-16 2013-08-15 Method and system for compensating for a time discrepancy Active EP2885780B1 (en)

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